Method for Determining, in a Fixed 3D Frame of Reference, the Location of a Moving Craft, and Associated Computer Program and Device

摘要

Method for locating, in a fixed frame of reference (RG), a moving craft from the craft, comprising two characteristic points, the rolling and pitching of the craft in the fixed frame of reference having been determined, so as to determine the yawing and/or the coordinates of the craft in the fixed frame of reference: a/ a local frame of reference (Rn) comprising an axis deviating from the yaw axis of the fixed frame of reference by a known angle resulting from a rotation about a first axis of the first local frame of reference dependent on the roll (R) and a rotation dependent on the pitch (P) is defined; b/ the coordinates of each characteristic point (P1, P2) in said local frame of reference being equal, to within an unknown common factor, to the multiplying of a matrix defining said succession of rotations by a matrix of intrinsic image capture parameters and by the coordinates of a pixel corresponding to the characteristic point in an image captured from the craft, the values adopted by the quotients relating said coordinates are determined; c/ said coordinates of the characteristic points are expressed in said local frame of reference as a function of the distance between these characteristic points and of the quotients determined.

主权项

1. A method for determining, in a 3D fixed frame of reference (RG), the location of a mobile machine provided with an image sensor associated with a first 3D local frame of reference (RI) corresponding to the capture of an image, by said sensor, of the environment of the mobile machine comprising at least two characteristic points of said environment,
said method being characterized in that the angles of roll and of pitch of the mobile machine in the fixed frame of reference corresponding to said image capture having been determined in a previous step, the following steps are implemented, in relation to said captured image, so as to determine the angle of yaw and/or the coordinates of the mobile machine in the fixed frame of reference: a/ a second local frame of reference (Rn) is defined in respect of the mobile machine comprising an axis exhibiting a known deviation of angle from the yaw axis of the fixed frame of reference, said second local frame of reference resulting from the succession of two rotations, one of said rotations about a first axis of the first local frame of reference being dependent on the angle of roll (R) determined and the other of said rotations being dependent on the angle of pitch (P) determined; b/ the coordinates of each of the two characteristic points (P1, P2) in said second local frame of reference being equal, to within an unknown common factor, to the result of the multiplication of a matrix defining said succession of rotations, by a matrix of intrinsic parameters of the image sensor and by the coordinates of a pixel corresponding to said characteristic point on the image, the values taken by the quotients between said coordinates are determined so as to circumvent the unknown common factor; c/ said coordinates of the two characteristic points in said second local frame of reference are thereafter expressed as a function of the distance (D) between said characteristic points and of said determined values of quotients.